public BSActor(BSScene physicsScene, BSPhysObject pObj, string actorName)
{
m_physicsScene = physicsScene;
m_controllingPrim = pObj;
ActorName = actorName;
Enabled = true;
}
public BSActorAvatarMove(BSScene physicsScene, BSPhysObject pObj, string actorName)
: base(physicsScene, pObj, actorName)
{
m_velocityMotor = null;
m_walkingUpStairs = 0;
m_physicsScene.DetailLog("{0},BSActorAvatarMove,constructor", m_controllingPrim.LocalID);
}
public BSPrim(uint localID, String primName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size,
OMV.Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical)
: base(parent_scene, localID, primName, "BSPrim")
{
// m_log.DebugFormat("{0}: BSPrim creation of {1}, id={2}", LogHeader, primName, localID);
_physicsActorType = (int)ActorTypes.Prim;
_position = pos;
_size = size;
Scale = size; // prims are the size the user wants them to be (different for BSCharactes).
_orientation = rotation;
_buoyancy = 0f;
RawVelocity = OMV.Vector3.Zero;
_rotationalVelocity = OMV.Vector3.Zero;
BaseShape = pbs;
_isPhysical = pisPhysical;
_isVolumeDetect = false;
// We keep a handle to the vehicle actor so we can set vehicle parameters later.
VehicleActor = new BSDynamics(PhysScene, this, VehicleActorName);
PhysicalActors.Add(VehicleActorName, VehicleActor);
_mass = CalculateMass();
// DetailLog("{0},BSPrim.constructor,call", LocalID);
// do the actual object creation at taint time
PhysScene.TaintedObject("BSPrim.create", delegate()
{
// Make sure the object is being created with some sanity.
ExtremeSanityCheck(true /* inTaintTime */);
CreateGeomAndObject(true);
CurrentCollisionFlags = PhysScene.PE.GetCollisionFlags(PhysBody);
});
}
// Create the correct type of linkset for this child
public static BSLinkset Factory(BSScene physScene, BSPrimLinkable parent)
{
BSLinkset ret = null;
switch (parent.LinksetType)
{
case LinksetImplementation.Constraint:
ret = new BSLinksetConstraints(physScene, parent);
break;
case LinksetImplementation.Compound:
ret = new BSLinksetCompound(physScene, parent);
break;
case LinksetImplementation.Manual:
// ret = new BSLinksetManual(physScene, parent);
break;
default:
ret = new BSLinksetCompound(physScene, parent);
break;
}
if (ret == null)
{
physScene.Logger.ErrorFormat("[BULLETSIM LINKSET] Factory could not create linkset. Parent name={1}, ID={2}", parent.Name, parent.LocalID);
}
return(ret);
}
// Get a reference to a physical shape. Create if it doesn't exist
public static BSShape GetShapeReference(BSScene physicsScene, bool forceRebuild, BSPhysObject prim)
{
BSShape ret = null;
if (prim.PreferredPhysicalShape == BSPhysicsShapeType.SHAPE_CAPSULE)
{
// an avatar capsule is close to a native shape (it is not shared)
ret = BSShapeNative.GetReference(physicsScene, prim, BSPhysicsShapeType.SHAPE_CAPSULE,
FixedShapeKey.KEY_CAPSULE);
physicsScene.DetailLog("{0},BSShape.GetShapeReference,avatarCapsule,shape={1}", prim.LocalID, ret);
}
// Compound shapes are handled special as they are rebuilt from scratch.
// This isn't too great a hardship since most of the child shapes will already been created.
if (ret == null && prim.PreferredPhysicalShape == BSPhysicsShapeType.SHAPE_COMPOUND)
{
// Getting a reference to a compound shape gets you the compound shape with the root prim shape added
ret = BSShapeCompound.GetReference(prim);
physicsScene.DetailLog("{0},BSShapeCollection.CreateGeom,compoundShape,shape={1}", prim.LocalID, ret);
}
if (ret == null)
ret = GetShapeReferenceNonSpecial(physicsScene, forceRebuild, prim);
return ret;
}
public BSActor(BSScene physicsScene, BSPhysObject pObj, string actorName)
{
m_physicsScene = physicsScene;
m_controllingPrim = pObj;
ActorName = actorName;
Enabled = true;
}
// Get a reference to a physical shape. Create if it doesn't exist
public static BSShape GetShapeReference(BSScene physicsScene, bool forceRebuild, BSPhysObject prim)
{
BSShape ret = null;
if (prim.PreferredPhysicalShape == BSPhysicsShapeType.SHAPE_CAPSULE)
{
// an avatar capsule is close to a native shape (it is not shared)
ret = BSShapeNative.GetReference(physicsScene, prim, BSPhysicsShapeType.SHAPE_CAPSULE,
FixedShapeKey.KEY_CAPSULE);
physicsScene.DetailLog("{0},BSShape.GetShapeReference,avatarCapsule,shape={1}", prim.LocalID, ret);
}
// Compound shapes are handled special as they are rebuilt from scratch.
// This isn't too great a hardship since most of the child shapes will have already been created.
if (ret == null && prim.PreferredPhysicalShape == BSPhysicsShapeType.SHAPE_COMPOUND)
{
// Getting a reference to a compound shape gets you the compound shape with the root prim shape added
ret = BSShapeCompound.GetReference(prim);
physicsScene.DetailLog("{0},BSShapeCollection.CreateGeom,compoundShape,shape={1}", prim.LocalID, ret);
}
// Avatars have their own unique shape
if (ret == null && prim.PreferredPhysicalShape == BSPhysicsShapeType.SHAPE_AVATAR)
{
// Getting a reference to a compound shape gets you the compound shape with the root prim shape added
ret = BSShapeAvatar.GetReference(prim);
physicsScene.DetailLog("{0},BSShapeCollection.CreateGeom,avatarShape,shape={1}", prim.LocalID, ret);
}
if (ret == null)
ret = GetShapeReferenceNonSpecial(physicsScene, forceRebuild, prim);
return ret;
}
private BSShapeNative(BSScene physicsScene, BSPhysObject prim,
BSPhysicsShapeType shapeType, FixedShapeKey shapeKey)
{
ShapeData nativeShapeData = new ShapeData();
nativeShapeData.Type = shapeType;
nativeShapeData.ID = prim.LocalID;
nativeShapeData.Scale = prim.Scale;
nativeShapeData.Size = prim.Scale;
nativeShapeData.MeshKey = (ulong)shapeKey;
nativeShapeData.HullKey = (ulong)shapeKey;
/*
if (shapeType == BSPhysicsShapeType.SHAPE_CAPSULE)
{
ptr = PhysicsScene.PE.BuildCapsuleShape(physicsScene.World, 1f, 1f, prim.Scale);
physicsScene.DetailLog("{0},BSShapeCollection.BuiletPhysicalNativeShape,capsule,scale={1}", prim.LocalID, prim.Scale);
}
else
{
ptr = PhysicsScene.PE.BuildNativeShape(physicsScene.World, nativeShapeData);
}
if (ptr == IntPtr.Zero)
{
physicsScene.Logger.ErrorFormat("{0} BuildPhysicalNativeShape failed. ID={1}, shape={2}",
LogHeader, prim.LocalID, shapeType);
}
type = shapeType;
key = (UInt64)shapeKey;
*/
}
protected BSPhysObject(BSScene parentScene, uint localID, string name, string typeName)
{
PhysicsScene = parentScene;
LocalID = localID;
PhysObjectName = name;
Name = name; // PhysicsActor also has the name of the object. Someday consolidate.
TypeName = typeName;
// Initialize variables kept in base.
GravModifier = 1.0f;
Gravity = new OMV.Vector3(0f, 0f, BSParam.Gravity);
// We don't have any physical representation yet.
PhysBody = new BulletBody(localID);
PhysShape = new BulletShape();
LastAssetBuildFailed = false;
// Default material type. Also sets Friction, Restitution and Density.
SetMaterial((int)MaterialAttributes.Material.Wood);
CollisionCollection = new CollisionEventUpdate();
CollisionsLastTick = CollisionCollection;
SubscribedEventsMs = 0;
CollidingStep = 0;
CollidingGroundStep = 0;
CollisionAccumulation = 0;
ColliderIsMoving = false;
CollisionScore = 0;
// All axis free.
LockedAxis = LockedAxisFree;
}
// Create the correct type of linkset for this child
public static BSLinkset Factory(BSScene physScene, BSPrimLinkable parent)
{
BSLinkset ret = null;
switch (parent.LinksetType)
{
case LinksetImplementation.Constraint:
ret = new BSLinksetConstraints(physScene, parent);
break;
case LinksetImplementation.Compound:
ret = new BSLinksetCompound(physScene, parent);
break;
case LinksetImplementation.Manual:
// ret = new BSLinksetManual(physScene, parent);
break;
default:
ret = new BSLinksetCompound(physScene, parent);
break;
}
if (ret == null)
{
physScene.Logger.ErrorFormat("[BULLETSIM LINKSET] Factory could not create linkset. Parent name={1}, ID={2}", parent.Name, parent.LocalID);
}
return ret;
}
public BSActorLockAxis(BSScene physicsScene, BSPhysObject pObj, string actorName)
: base(physicsScene, pObj, actorName)
{
m_physicsScene.DetailLog("{0},BSActorLockAxis,constructor", m_controllingPrim.LocalID);
LockAxisConstraint = null;
HaveRegisteredForBeforeStepCallback = false;
}
public BSActorAvatarMove(BSScene physicsScene, BSPhysObject pObj, string actorName)
: base(physicsScene, pObj, actorName)
{
m_velocityMotor = null;
m_walkingUpStairs = 0;
m_physicsScene.DetailLog("{0},BSActorAvatarMove,constructor", m_controllingPrim.LocalID);
}
public static BSShape GetReference(BSScene physicsScene, BSPhysObject prim,
BSPhysicsShapeType shapeType, FixedShapeKey shapeKey)
{
// Native shapes are not shared and are always built anew.
//return new BSShapeNative(physicsScene, prim, shapeType, shapeKey);
return null;
}
public PhysicsScene GetScene()
{
if (_mScene == null)
{
_mScene = new BSScene();
}
return(_mScene);
}
public PhysicsScene GetScene(String sceneIdentifier)
{
if (_mScene == null)
{
_mScene = new BSScene(GetName(), sceneIdentifier);
}
return(_mScene);
}
public PhysicsScene GetScene(String sceneIdentifier)
{
if (_mScene == null)
{
_mScene = new BSScene(GetName(), sceneIdentifier);
}
return (_mScene);
}
public BSTerrainManager(BSScene physicsScene)
{
PhysicsScene = physicsScene;
// Assume one region of default size
m_worldMax = new Vector3(physicsScene.Scene.RegionInfo.RegionSizeX,
physicsScene.Scene.RegionInfo.RegionSizeY, physicsScene.Scene.RegionInfo.RegionSizeZ);
}
public BSCharacter(
uint localID, String avName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 vel, OMV.Vector3 size, bool isFlying)
: base(parent_scene, localID, avName, "BSCharacter")
{
_physicsActorType = (int)ActorTypes.Agent;
RawPosition = pos;
_flying = isFlying;
RawOrientation = OMV.Quaternion.Identity;
RawVelocity = vel;
_buoyancy = ComputeBuoyancyFromFlying(isFlying);
Friction = BSParam.AvatarStandingFriction;
Density = BSParam.AvatarDensity;
// Old versions of ScenePresence passed only the height. If width and/or depth are zero,
// replace with the default values.
_size = size;
if (_size.X == 0f)
{
_size.X = BSParam.AvatarCapsuleDepth;
}
if (_size.Y == 0f)
{
_size.Y = BSParam.AvatarCapsuleWidth;
}
// The dimensions of the physical capsule are kept in the scale.
// Physics creates a unit capsule which is scaled by the physics engine.
Scale = ComputeAvatarScale(_size);
// set _avatarVolume and _mass based on capsule size, _density and Scale
ComputeAvatarVolumeAndMass();
DetailLog(
"{0},BSCharacter.create,call,size={1},scale={2},density={3},volume={4},mass={5},pos={6},vel={7}",
LocalID, _size, Scale, Density, _avatarVolume, RawMass, pos, vel);
// do actual creation in taint time
PhysScene.TaintedObject(LocalID, "BSCharacter.create", delegate()
{
DetailLog("{0},BSCharacter.create,taint", LocalID);
// New body and shape into PhysBody and PhysShape
PhysScene.Shapes.GetBodyAndShape(true, PhysScene.World, this);
// The avatar's movement is controlled by this motor that speeds up and slows down
// the avatar seeking to reach the motor's target speed.
// This motor runs as a prestep action for the avatar so it will keep the avatar
// standing as well as moving. Destruction of the avatar will destroy the pre-step action.
m_moveActor = new BSActorAvatarMove(PhysScene, this, AvatarMoveActorName);
PhysicalActors.Add(AvatarMoveActorName, m_moveActor);
SetPhysicalProperties();
IsInitialized = true;
});
return;
}
public BSActorLockAxis(BSScene physicsScene, BSPhysObject pObj, string actorName)
: base(physicsScene, pObj, actorName)
{
m_physicsScene.DetailLog("{0},BSActorLockAxis,constructor", m_controllingPrim.LocalID);
LockAxisConstraint = null;
// we place our constraint just before the simulation step to make sure the linkset is complete
m_physicsScene.BeforeStep += PhysicsScene_BeforeStep;
}
public BSShapeCollection(BSScene physScene)
{
m_physicsScene = physScene;
// Set the next to 'true' for very detailed shape update detailed logging (detailed details?)
// While detailed debugging is still active, this is better than commenting out all the
// DetailLog statements. When debugging slows down, this and the protected logging
// statements can be commented/removed.
DDetail = true;
}
public BSActorLockAxis(BSScene physicsScene, BSPhysObject pObj, string actorName)
: base(physicsScene, pObj, actorName)
{
m_physicsScene.DetailLog("{0},BSActorLockAxis,constructor", m_controllingPrim.LocalID);
LockAxisConstraint = null;
// we place our constraint just before the simulation step to make sure the linkset is complete
m_physicsScene.BeforeStep += PhysicsScene_BeforeStep;
}
public void TearDown()
{
if (PhysicsScene != null)
{
// The Dispose() will also free any physical objects in the scene
PhysicsScene.Dispose();
PhysicsScene = null;
}
}
public BSShapeCollection(BSScene physScene)
{
PhysicsScene = physScene;
// Set the next to 'true' for very detailed shape update detailed logging (detailed details?)
// While detailed debugging is still active, this is better than commenting out all the
// DetailLog statements. When debugging slows down, this and the protected logging
// statements can be commented/removed.
DDetail = true;
}
// Apply the specificed collision mask into the physical world
public virtual bool ApplyCollisionMask(BSScene physicsScene)
{
// Should assert the body has been added to the physical world.
// (The collision masks are stored in the collision proxy cache which only exists for
// a collision body that is in the world.)
return(physicsScene.PE.SetCollisionGroupMask(this,
BulletSimData.CollisionTypeMasks[collisionType].group,
BulletSimData.CollisionTypeMasks[collisionType].mask));
}
// Apply the specificed collision mask into the physical world
public virtual bool ApplyCollisionMask(BSScene physicsScene)
{
// Should assert the body has been added to the physical world.
// (The collision masks are stored in the collision proxy cache which only exists for
// a collision body that is in the world.)
return physicsScene.PE.SetCollisionGroupMask(this,
BulletSimData.CollisionTypeMasks[collisionType].group,
BulletSimData.CollisionTypeMasks[collisionType].mask);
}
// Make this reference to the physical shape go away since native shapes are not shared.
public override void Dereference(BSScene physicsScene)
{
/*
// Native shapes are not tracked and are released immediately
physicsScene.DetailLog("{0},BSShapeCollection.DereferenceShape,deleteNativeShape,shape={1}", BSScene.DetailLogZero, this);
PhysicsScene.PE.DeleteCollisionShape(physicsScene.World, this);
ptr = IntPtr.Zero;
// Garbage collection will free up this instance.
*/
}
public BSTerrainManager(BSScene physicsScene)
{
m_physicsScene = physicsScene;
m_terrains = new Dictionary <Vector3, BSTerrainPhys>();
// Assume one region of default size
m_worldOffset = Vector3.Zero;
m_worldMax = new Vector3(DefaultRegionSize);
MegaRegionParentPhysicsScene = null;
}
public BSTerrainManager(BSScene physicsScene)
{
PhysicsScene = physicsScene;
m_heightMaps = new Dictionary <Vector2, BulletHeightMapInfo>();
m_terrainModified = false;
// Assume one region of default size
m_worldOffset = Vector3.Zero;
m_worldMax = new Vector3(DefaultRegionSize);
MegaRegionParentPhysicsScene = null;
}
public BSPrimLinkable(uint localID, String primName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size,
OMV.Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical)
: base(localID, primName, parent_scene, pos, size, rotation, pbs, pisPhysical)
{
// Default linkset implementation for this prim
LinksetType = (BSLinkset.LinksetImplementation)BSParam.LinksetImplementation;
Linkset = BSLinkset.Factory(PhysScene, this);
Linkset.Refresh(this);
}
public BSPrimLinkable(uint localID, String primName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size,
OMV.Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical)
: base(localID, primName, parent_scene, pos, size, rotation, pbs, pisPhysical)
{
Linkset = BSLinkset.Factory(PhysScene, this);
PhysScene.TaintedObject("BSPrimLinksetCompound.Refresh", delegate()
{
Linkset.Refresh(this);
});
}
public PhysicsScene GetScene(String sceneIdentifier)
{
if (_mScene == null)
{
if (Util.IsWindows())
Util.LoadArchSpecificWindowsDll("BulletSim.dll");
_mScene = new BSScene(sceneIdentifier);
}
return (_mScene);
}
public BSPrimLinkable(uint localID, String primName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size,
OMV.Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical)
: base(localID, primName, parent_scene, pos, size, rotation, pbs, pisPhysical)
{
// Default linkset implementation for this prim
LinksetType = (BSLinkset.LinksetImplementation)BSParam.LinksetImplementation;
Linkset = BSLinkset.Factory(PhysScene, this);
Linkset.Refresh(this);
}
public BSPrimLinkable(uint localID, String primName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size,
OMV.Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical)
: base(localID, primName, parent_scene, pos, size, rotation, pbs, pisPhysical)
{
Linkset = BSLinkset.Factory(PhysScene, this);
PhysScene.TaintedObject("BSPrimLinksetCompound.Refresh", delegate()
{
Linkset.Refresh(this);
});
}
public BSAPIUnman(string paramName, BSScene physScene)
{
PhysicsScene = physScene;
// Do something fancy with the paramName to get the right DLL implementation
// like "Bullet-2.80-OpenCL-Intel" loading the version for Intel based OpenCL implementation, etc.
if (Util.IsWindows())
Util.LoadArchSpecificWindowsDll("BulletSim.dll");
// If not Windows, loading is performed by the
// Mono loader as specified in
// "bin/Physics/OpenSim.Region.Physics.BulletSPlugin.dll.config".
}
public BSCharacter(
uint localID, String avName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 vel, OMV.Vector3 size, bool isFlying)
: base(parent_scene, localID, avName, "BSCharacter")
{
_physicsActorType = (int)ActorTypes.Agent;
RawPosition = pos;
_flying = isFlying;
RawOrientation = OMV.Quaternion.Identity;
RawVelocity = vel;
_buoyancy = ComputeBuoyancyFromFlying(isFlying);
Friction = BSParam.AvatarStandingFriction;
Density = BSParam.AvatarDensity;
// Old versions of ScenePresence passed only the height. If width and/or depth are zero,
// replace with the default values.
_size = size;
if (_size.X == 0f) _size.X = BSParam.AvatarCapsuleDepth;
if (_size.Y == 0f) _size.Y = BSParam.AvatarCapsuleWidth;
// The dimensions of the physical capsule are kept in the scale.
// Physics creates a unit capsule which is scaled by the physics engine.
Scale = ComputeAvatarScale(_size);
// set _avatarVolume and _mass based on capsule size, _density and Scale
ComputeAvatarVolumeAndMass();
DetailLog(
"{0},BSCharacter.create,call,size={1},scale={2},density={3},volume={4},mass={5},pos={6},vel={7}",
LocalID, _size, Scale, Density, _avatarVolume, RawMass, pos, vel);
// do actual creation in taint time
PhysScene.TaintedObject(LocalID, "BSCharacter.create", delegate()
{
DetailLog("{0},BSCharacter.create,taint", LocalID);
// New body and shape into PhysBody and PhysShape
PhysScene.Shapes.GetBodyAndShape(true, PhysScene.World, this);
// The avatar's movement is controlled by this motor that speeds up and slows down
// the avatar seeking to reach the motor's target speed.
// This motor runs as a prestep action for the avatar so it will keep the avatar
// standing as well as moving. Destruction of the avatar will destroy the pre-step action.
m_moveActor = new BSActorAvatarMove(PhysScene, this, AvatarMoveActorName);
PhysicalActors.Add(AvatarMoveActorName, m_moveActor);
SetPhysicalProperties();
IsInitialized = true;
});
return;
}
public PhysicsScene GetScene(String sceneIdentifier)
{
if (_mScene == null)
{
if (Util.IsWindows())
{
Util.LoadArchSpecificWindowsDll("BulletSim.dll");
}
_mScene = new BSScene(sceneIdentifier);
}
return(_mScene);
}
public BSLinkset(BSScene scene, BSPhysObject parent)
{
// A simple linkset of one (no children)
LinksetID = m_nextLinksetID++;
// We create LOTS of linksets.
if (m_nextLinksetID <= 0)
m_nextLinksetID = 1;
PhysicsScene = scene;
LinksetRoot = parent;
m_children = new List<BSPhysObject>();
m_taintChildren = new List<BSPhysObject>();
m_mass = parent.MassRaw;
}
protected void BaseInitialize(BSScene parentScene, uint localID, string name, string typeName)
{
PhysicsScene = parentScene;
LocalID = localID;
PhysObjectName = name;
TypeName = typeName;
Linkset = new BSLinkset(PhysicsScene, this);
CollisionCollection = new CollisionEventUpdate();
SubscribedEventsMs = 0;
CollidingStep = 0;
CollidingGroundStep = 0;
}
protected void BaseInitialize(BSScene parentScene, uint localID, string name, string typeName)
{
PhysicsScene = parentScene;
LocalID = localID;
PhysObjectName = name;
TypeName = typeName;
Linkset = new BSLinkset(PhysicsScene, this);
CollisionCollection = new CollisionEventUpdate();
SubscribedEventsMs = 0;
CollidingStep = 0;
CollidingGroundStep = 0;
}
public PhysicsScene GetScene(String sceneIdentifier)
{
if (_mScene == null)
{
if (Util.IsWindows())
Util.LoadArchSpecificWindowsDll("BulletSim.dll");
// If not Windows, loading is performed by the
// Mono loader as specified in
// "bin/Physics/OpenSim.Region.Physics.BulletSPlugin.dll.config".
_mScene = new BSScene(sceneIdentifier);
}
return (_mScene);
}
// This minCoords and maxCoords passed in give the size of the terrain (min and max Z
// are the high and low points of the heightmap).
public BSTerrainHeightmap(BSScene physicsScene, Vector3 regionBase, uint id, float[] initialMap,
Vector3 minCoords, Vector3 maxCoords)
: base(physicsScene, regionBase, id)
{
m_mapInfo = new BulletHMapInfo(id, initialMap);
m_mapInfo.minCoords = minCoords;
m_mapInfo.maxCoords = maxCoords;
m_mapInfo.minZ = minCoords.Z;
m_mapInfo.maxZ = maxCoords.Z;
m_mapInfo.terrainRegionBase = TerrainBase;
// Don't have to free any previous since we just got here.
BuildHeightmapTerrain();
}
// This minCoords and maxCoords passed in give the size of the terrain (min and max Z
// are the high and low points of the heightmap).
public BSTerrainHeightmap(BSScene physicsScene, Vector3 regionBase, uint id, float[] initialMap,
Vector3 minCoords, Vector3 maxCoords)
: base(physicsScene, regionBase, id)
{
m_mapInfo = new BulletHMapInfo(id, initialMap);
m_mapInfo.minCoords = minCoords;
m_mapInfo.maxCoords = maxCoords;
m_mapInfo.minZ = minCoords.Z;
m_mapInfo.maxZ = maxCoords.Z;
m_mapInfo.terrainRegionBase = TerrainBase;
// Don't have to free any previous since we just got here.
BuildHeightmapTerrain();
}
public BSCharacter(uint localID, String avName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size, bool isFlying)
{
base.BaseInitialize(parent_scene, localID, avName, "BSCharacter");
_physicsActorType = (int)ActorTypes.Agent;
_position = pos;
_size = size;
_flying = isFlying;
_orientation = OMV.Quaternion.Identity;
_velocity = OMV.Vector3.Zero;
_buoyancy = ComputeBuoyancyFromFlying(isFlying);
// The dimensions of the avatar capsule are kept in the scale.
// Physics creates a unit capsule which is scaled by the physics engine.
ComputeAvatarScale(_size);
_avatarDensity = PhysicsScene.Params.avatarDensity;
// set _avatarVolume and _mass based on capsule size, _density and _scale
ComputeAvatarVolumeAndMass();
ShapeData shapeData = new ShapeData();
shapeData.ID = LocalID;
shapeData.Type = ShapeData.PhysicsShapeType.SHAPE_AVATAR;
shapeData.Position = _position;
shapeData.Rotation = _orientation;
shapeData.Velocity = _velocity;
shapeData.Scale = _scale;
shapeData.Mass = _mass;
shapeData.Buoyancy = _buoyancy;
shapeData.Static = ShapeData.numericFalse;
shapeData.Friction = PhysicsScene.Params.avatarFriction;
shapeData.Restitution = PhysicsScene.Params.avatarRestitution;
// do actual create at taint time
PhysicsScene.TaintedObject("BSCharacter.create", delegate()
{
DetailLog("{0},BSCharacter.create,taint", LocalID);
BulletSimAPI.CreateObject(PhysicsScene.WorldID, shapeData);
// Set the buoyancy for flying. This will be refactored when all the settings happen in C#.
// If not set at creation, the avatar will stop flying when created after crossing a region boundry.
BulletSimAPI.SetObjectBuoyancy(PhysicsScene.WorldID, LocalID, _buoyancy);
BSBody = new BulletBody(LocalID, BulletSimAPI.GetBodyHandle2(PhysicsScene.World.ptr, LocalID));
// This works here because CreateObject has already put the character into the physical world.
BulletSimAPI.SetCollisionFilterMask2(BSBody.ptr,
(uint)CollisionFilterGroups.AvatarFilter, (uint)CollisionFilterGroups.AvatarMask);
});
return;
}
public BSCharacter(uint localID, String avName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size, bool isFlying)
{
base.BaseInitialize(parent_scene, localID, avName, "BSCharacter");
_physicsActorType = (int)ActorTypes.Agent;
_position = pos;
_size = size;
_flying = isFlying;
_orientation = OMV.Quaternion.Identity;
_velocity = OMV.Vector3.Zero;
_buoyancy = ComputeBuoyancyFromFlying(isFlying);
// The dimensions of the avatar capsule are kept in the scale.
// Physics creates a unit capsule which is scaled by the physics engine.
ComputeAvatarScale(_size);
_avatarDensity = PhysicsScene.Params.avatarDensity;
// set _avatarVolume and _mass based on capsule size, _density and _scale
ComputeAvatarVolumeAndMass();
ShapeData shapeData = new ShapeData();
shapeData.ID = LocalID;
shapeData.Type = ShapeData.PhysicsShapeType.SHAPE_AVATAR;
shapeData.Position = _position;
shapeData.Rotation = _orientation;
shapeData.Velocity = _velocity;
shapeData.Scale = _scale;
shapeData.Mass = _mass;
shapeData.Buoyancy = _buoyancy;
shapeData.Static = ShapeData.numericFalse;
shapeData.Friction = PhysicsScene.Params.avatarFriction;
shapeData.Restitution = PhysicsScene.Params.avatarRestitution;
// do actual create at taint time
PhysicsScene.TaintedObject("BSCharacter.create", delegate()
{
DetailLog("{0},BSCharacter.create,taint", LocalID);
BulletSimAPI.CreateObject(PhysicsScene.WorldID, shapeData);
// Set the buoyancy for flying. This will be refactored when all the settings happen in C#.
// If not set at creation, the avatar will stop flying when created after crossing a region boundry.
BulletSimAPI.SetObjectBuoyancy(PhysicsScene.WorldID, LocalID, _buoyancy);
BSBody = new BulletBody(LocalID, BulletSimAPI.GetBodyHandle2(PhysicsScene.World.ptr, LocalID));
// This works here because CreateObject has already put the character into the physical world.
BulletSimAPI.SetCollisionFilterMask2(BSBody.ptr,
(uint)CollisionFilterGroups.AvatarFilter, (uint)CollisionFilterGroups.AvatarMask);
});
return;
}
public BSLinkset(BSScene scene, BSPhysObject parent)
{
// A simple linkset of one (no children)
LinksetID = m_nextLinksetID++;
// We create LOTS of linksets.
if (m_nextLinksetID <= 0)
{
m_nextLinksetID = 1;
}
PhysicsScene = scene;
LinksetRoot = parent;
m_children = new List <BSPhysObject>();
m_taintChildren = new List <BSPhysObject>();
m_mass = parent.MassRaw;
}
protected BSLinkset(BSScene scene, BSPhysObject parent)
{
// A simple linkset of one (no children)
LinksetID = m_nextLinksetID++;
// We create LOTS of linksets.
if (m_nextLinksetID <= 0)
{
m_nextLinksetID = 1;
}
PhysicsScene = scene;
LinksetRoot = parent;
m_children = new HashSet <BSPhysObject>();
LinksetMass = parent.RawMass;
Rebuilding = false;
}
// private static string LogHeader = "[BULLETSIM LINKSET]";
// Create the correct type of linkset for this child
public static BSLinkset Factory(BSScene physScene, BSPhysObject parent)
{
BSLinkset ret = null;
/*
if (parent.IsPhysical)
ret = new BSLinksetConstraints(physScene, parent);
else
ret = new BSLinksetManual(physScene, parent);
*/
// at the moment, there is only one
ret = new BSLinksetConstraints(physScene, parent);
return ret;
}
protected BSLinkset(BSScene scene, BSPrimLinkable parent)
{
// A simple linkset of one (no children)
LinksetID = m_nextLinksetID++;
// We create LOTS of linksets.
if (m_nextLinksetID <= 0)
m_nextLinksetID = 1;
PhysicsScene = scene;
LinksetRoot = parent;
m_children = new HashSet<BSPrimLinkable>();
LinksetMass = parent.RawMass;
Rebuilding = false;
parent.ClearDisplacement();
}
public BSCharacter(uint localID, UUID avID, String avName, BSScene parent_scene, Vector3 pos,
Quaternion rotation, Vector3 size, bool isFlying)
{
_localID = localID;
_avID = avID;
_avName = avName;
_scene = parent_scene;
_position = pos;
_orientation = rotation;
_size = size;
_orientation = Quaternion.Identity;
_velocity = Vector3.Zero;
_buoyancy = 0f; // characters return a buoyancy of zero
_scale = new Vector3(1f, 1f, 1f);
float AVvolume =
(float)(Math.PI * Math.Pow(_scene.Params.avatarCapsuleRadius, 2) * _scene.Params.avatarCapsuleHeight);
_density = _scene.Params.avatarDensity;
_mass = _density * AVvolume;
_isPhysical = true;
ShapeData shapeData = new ShapeData
{
ID = _localID,
Type = ShapeData.PhysicsShapeType.SHAPE_AVATAR,
Position = _position,
Rotation = _orientation,
Velocity = _velocity,
Scale = _scale,
Mass = _mass,
Buoyancy = isFlying ? 1f : 0f,
Static = ShapeData.numericFalse,
Friction = _scene.Params.avatarFriction,
Restitution = _scene.Params.defaultRestitution
};
// do actual create at taint time
#if (!ISWIN)
_scene.TaintedObject(delegate()
{
BulletSimAPI.CreateObject(parent_scene.WorldID, shapeData);
});
#else
_scene.TaintedObject(() => BulletSimAPI.CreateObject(parent_scene.WorldID, shapeData));
#endif
return;
}
public PhysicsScene GetScene(String sceneIdentifier)
{
if (_mScene == null)
{
if (Util.IsWindows())
{
Util.LoadArchSpecificWindowsDll("BulletSim.dll");
}
// If not Windows, loading is performed by the
// Mono loader as specified in
// "bin/Physics/OpenSim.Region.Physics.BulletSPlugin.dll.config".
_mScene = new BSScene(sceneIdentifier);
}
return(_mScene);
}
protected BSPhysObject(BSScene parentScene, uint localID, string name, string typeName)
{
IsInitialized = false;
PhysScene = parentScene;
LocalID = localID;
PhysObjectName = name;
Name = name; // PhysicsActor also has the name of the object. Someday consolidate.
TypeName = typeName;
// The collection of things that push me around
PhysicalActors = new BSActorCollection(PhysScene);
// We don't have any physical representation yet.
PhysBody = new BulletBody(localID);
PhysShape = new BSShapeNull();
UserSetCenterOfMassDisplacement = null;
PrimAssetState = PrimAssetCondition.Unknown;
// Initialize variables kept in base.
// Beware that these cause taints to be queued whch can cause race conditions on startup.
GravModifier = 1.0f;
Gravity = new OMV.Vector3(0f, 0f, BSParam.Gravity);
HoverActive = false;
// Default material type. Also sets Friction, Restitution and Density.
SetMaterial((int)MaterialAttributes.Material.Wood);
CollisionCollection = new CollisionEventUpdate();
CollisionsLastReported = CollisionCollection;
CollisionsLastTick = new CollisionEventUpdate();
CollisionsLastTickStep = -1;
SubscribedEventsMs = 0;
// Crazy values that will never be true
CollidingStep = BSScene.NotASimulationStep;
CollidingGroundStep = BSScene.NotASimulationStep;
CollisionAccumulation = BSScene.NotASimulationStep;
ColliderIsMoving = false;
CollisionScore = 0;
// All axis free.
LockedLinearAxis = LockedAxisFree;
LockedAngularAxis = LockedAxisFree;
}
public BSCharacter(uint localID, UUID avID, String avName, BSScene parent_scene, Vector3 pos,
Quaternion rotation, Vector3 size, bool isFlying)
{
_localID = localID;
_avID = avID;
_avName = avName;
_scene = parent_scene;
_position = pos;
_orientation = rotation;
_size = size;
_orientation = Quaternion.Identity;
_velocity = Vector3.Zero;
_buoyancy = 0f; // characters return a buoyancy of zero
_scale = new Vector3(1f, 1f, 1f);
float AVvolume =
(float) (Math.PI*Math.Pow(_scene.Params.avatarCapsuleRadius, 2)*_scene.Params.avatarCapsuleHeight);
_density = _scene.Params.avatarDensity;
_mass = _density*AVvolume;
_isPhysical = true;
ShapeData shapeData = new ShapeData
{
ID = _localID,
Type = ShapeData.PhysicsShapeType.SHAPE_AVATAR,
Position = _position,
Rotation = _orientation,
Velocity = _velocity,
Scale = _scale,
Mass = _mass,
Buoyancy = isFlying ? 1f : 0f,
Static = ShapeData.numericFalse,
Friction = _scene.Params.avatarFriction,
Restitution = _scene.Params.defaultRestitution
};
// do actual create at taint time
#if (!ISWIN)
_scene.TaintedObject(delegate()
{
BulletSimAPI.CreateObject(parent_scene.WorldID, shapeData);
});
#else
_scene.TaintedObject(() => BulletSimAPI.CreateObject(parent_scene.WorldID, shapeData));
#endif
return;
}
public BSCharacter(uint localID, String avName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size, bool isFlying)
{
base.BaseInitialize(parent_scene, localID, avName, "BSCharacter");
_physicsActorType = (int)ActorTypes.Agent;
_position = pos;
_size = size;
_flying = isFlying;
_orientation = OMV.Quaternion.Identity;
_velocity = OMV.Vector3.Zero;
_appliedVelocity = OMV.Vector3.Zero;
_buoyancy = ComputeBuoyancyFromFlying(isFlying);
_currentFriction = PhysicsScene.Params.avatarStandingFriction;
_avatarDensity = PhysicsScene.Params.avatarDensity;
// The dimensions of the avatar capsule are kept in the scale.
// Physics creates a unit capsule which is scaled by the physics engine.
ComputeAvatarScale(_size);
// set _avatarVolume and _mass based on capsule size, _density and Scale
ComputeAvatarVolumeAndMass();
DetailLog("{0},BSCharacter.create,call,size={1},scale={2},density={3},volume={4},mass={5}",
LocalID, _size, Scale, _avatarDensity, _avatarVolume, MassRaw);
ShapeData shapeData = new ShapeData();
shapeData.ID = LocalID;
shapeData.Type = ShapeData.PhysicsShapeType.SHAPE_AVATAR;
shapeData.Position = _position;
shapeData.Rotation = _orientation;
shapeData.Velocity = _velocity;
shapeData.Size = Scale; // capsule is a native shape but scale is not just <1,1,1>
shapeData.Scale = Scale;
shapeData.Mass = _mass;
shapeData.Buoyancy = _buoyancy;
shapeData.Static = ShapeData.numericFalse;
shapeData.Friction = PhysicsScene.Params.avatarStandingFriction;
shapeData.Restitution = PhysicsScene.Params.avatarRestitution;
// do actual create at taint time
PhysicsScene.TaintedObject("BSCharacter.create", delegate()
{
DetailLog("{0},BSCharacter.create,taint", LocalID);
// New body and shape into BSBody and BSShape
PhysicsScene.Shapes.GetBodyAndShape(true, PhysicsScene.World, this, shapeData, null, null, null);
SetPhysicalProperties();
});
return;
}
public BSCharacter(uint localID, String avName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size, bool isFlying)
: base(parent_scene, localID, avName, "BSCharacter")
{
_physicsActorType = (int)ActorTypes.Agent;
_position = pos;
_flying = isFlying;
_orientation = OMV.Quaternion.Identity;
_velocity = OMV.Vector3.Zero;
_buoyancy = ComputeBuoyancyFromFlying(isFlying);
_currentFriction = BSParam.AvatarStandingFriction;
_avatarDensity = BSParam.AvatarDensity;
// Old versions of ScenePresence passed only the height. If width and/or depth are zero,
// replace with the default values.
_size = size;
if (_size.X == 0f)
{
_size.X = BSParam.AvatarCapsuleDepth;
}
if (_size.Y == 0f)
{
_size.Y = BSParam.AvatarCapsuleWidth;
}
// The dimensions of the physical capsule are kept in the scale.
// Physics creates a unit capsule which is scaled by the physics engine.
Scale = ComputeAvatarScale(_size);
// set _avatarVolume and _mass based on capsule size, _density and Scale
ComputeAvatarVolumeAndMass();
SetupMovementMotor();
DetailLog("{0},BSCharacter.create,call,size={1},scale={2},density={3},volume={4},mass={5}",
LocalID, _size, Scale, _avatarDensity, _avatarVolume, RawMass);
// do actual creation in taint time
PhysicsScene.TaintedObject("BSCharacter.create", delegate()
{
DetailLog("{0},BSCharacter.create,taint", LocalID);
// New body and shape into PhysBody and PhysShape
PhysicsScene.Shapes.GetBodyAndShape(true, PhysicsScene.World, this);
SetPhysicalProperties();
});
return;
}
protected BSLinkset(BSScene scene, BSPrimLinkable parent)
{
// A simple linkset of one (no children)
LinksetID = m_nextLinksetID++;
// We create LOTS of linksets.
if (m_nextLinksetID <= 0)
{
m_nextLinksetID = 1;
}
m_physicsScene = scene;
LinksetRoot = parent;
m_children = new Dictionary <BSPrimLinkable, BSLinkInfo>();
LinksetMass = parent.RawMass;
Rebuilding = false;
parent.ClearDisplacement();
}
protected BSPhysObject(BSScene parentScene, uint localID, string name, string typeName)
{
IsInitialized = false;
PhysScene = parentScene;
LocalID = localID;
PhysObjectName = name;
Name = name; // PhysicsActor also has the name of the object. Someday consolidate.
TypeName = typeName;
// The collection of things that push me around
PhysicalActors = new BSActorCollection(PhysScene);
// Initialize variables kept in base.
GravModifier = 1.0f;
Gravity = new OMV.Vector3(0f, 0f, BSParam.Gravity);
HoverActive = false;
// We don't have any physical representation yet.
PhysBody = new BulletBody(localID);
PhysShape = new BSShapeNull();
UserSetCenterOfMassDisplacement = null;
PrimAssetState = PrimAssetCondition.Unknown;
// Default material type. Also sets Friction, Restitution and Density.
SetMaterial((int)MaterialAttributes.Material.Wood);
CollisionCollection = new CollisionEventUpdate();
CollisionsLastReported = CollisionCollection;
CollisionsLastTick = new CollisionEventUpdate();
CollisionsLastTickStep = -1;
SubscribedEventsMs = 0;
// Crazy values that will never be true
CollidingStep = BSScene.NotASimulationStep;
CollidingGroundStep = BSScene.NotASimulationStep;
CollisionAccumulation = BSScene.NotASimulationStep;
ColliderIsMoving = false;
CollisionScore = 0;
// All axis free.
LockedLinearAxis = LockedAxisFree;
LockedAngularAxis = LockedAxisFree;
}
public BSPrimLinkable(uint localID, String primName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size,
OMV.Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical, int material, float friction,
float restitution, float gravityMultiplier, float density)
: base(localID, primName, parent_scene, pos, size, rotation, pbs, pisPhysical)
{
Linkset = BSLinkset.Factory(PhysicsScene, this);
PhysicsScene.TaintedObject("BSPrimLinksetCompound.Refresh", delegate()
{
base.SetMaterial(material);
base.Friction = friction;
base.Restitution = restitution;
base.GravityMultiplier = gravityMultiplier;
base.Density = density;
Linkset.Refresh(this);
});
}
public BSPrimLinkable(uint localID, String primName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size,
OMV.Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical, int material, float friction,
float restitution, float gravityMultiplier, float density)
: base(localID, primName, parent_scene, pos, size, rotation, pbs, pisPhysical)
{
Linkset = BSLinkset.Factory(PhysicsScene, this);
PhysicsScene.TaintedObject("BSPrimLinksetCompound.Refresh", delegate()
{
base.SetMaterial(material);
base.Friction = friction;
base.Restitution = restitution;
base.GravityMultiplier = gravityMultiplier;
base.Density = density;
Linkset.Refresh(this);
});
}
protected BSPhysObject(BSScene parentScene, uint localID, string name, string typeName)
{
IsInitialized = false;
PhysScene = parentScene;
LocalID = localID;
PhysObjectName = name;
Name = name; // PhysicsActor also has the name of the object. Someday consolidate.
TypeName = typeName;
// Oddity if object is destroyed and recreated very quickly it could still have the old body.
if (!PhysBody.HasPhysicalBody)
PhysBody = new BulletBody(localID);
// Clean out anything that might be in the physical actor list.
// Again, a workaround for destroying and recreating an object very quickly.
PhysicalActors.Dispose();
UserSetCenterOfMassDisplacement = null;
PrimAssetState = PrimAssetCondition.Unknown;
// Initialize variables kept in base.
// Beware that these cause taints to be queued whch can cause race conditions on startup.
GravModifier = 1.0f;
Gravity = new OMV.Vector3(0f, 0f, BSParam.Gravity);
HoverActive = false;
// Default material type. Also sets Friction, Restitution and Density.
SetMaterial((int)MaterialAttributes.Material.Wood);
CollisionsLastTickStep = -1;
SubscribedEventsMs = 0;
// Crazy values that will never be true
CollidingStep = BSScene.NotASimulationStep;
CollidingGroundStep = BSScene.NotASimulationStep;
CollisionAccumulation = BSScene.NotASimulationStep;
ColliderIsMoving = false;
CollisionScore = 0;
// All axis free.
LockedLinearAxis = LockedAxisFree;
LockedAngularAxis = LockedAxisFree;
}
// Constructor to build a default, flat heightmap terrain.
public BSTerrainHeightmap(BSScene physicsScene, Vector3 regionBase, uint id, Vector3 regionSize)
: base(physicsScene, regionBase, id)
{
Vector3 minTerrainCoords = new Vector3(0f, 0f, BSTerrainManager.HEIGHT_INITIALIZATION - BSTerrainManager.HEIGHT_EQUAL_FUDGE);
Vector3 maxTerrainCoords = new Vector3(regionSize.X, regionSize.Y, BSTerrainManager.HEIGHT_INITIALIZATION);
int totalHeights = (int)maxTerrainCoords.X * (int)maxTerrainCoords.Y;
float[] initialMap = new float[totalHeights];
for (int ii = 0; ii < totalHeights; ii++)
{
initialMap[ii] = BSTerrainManager.HEIGHT_INITIALIZATION;
}
m_mapInfo = new BulletHMapInfo(id, initialMap);
m_mapInfo.minCoords = minTerrainCoords;
m_mapInfo.maxCoords = maxTerrainCoords;
m_mapInfo.terrainRegionBase = TerrainBase;
// Don't have to free any previous since we just got here.
BuildHeightmapTerrain();
}